implement Scheduler

Author: hathach

cores/nRF5/rtos.cpp

@@ -40,3 +40,45 @@ void yield(void)
 {
   taskYIELD();
 }
+
+SchedulerRTOS Scheduler;
+
+static void _redirect_task(void* arg)
+{
+  SchedulerRTOS::taskfunc_t taskfunc = (SchedulerRTOS::taskfunc_t) arg;
+
+  while(1)
+  {
+    taskfunc();
+
+    // yield() anyway just in case user forgot
+    taskYIELD();
+  }
+}
+
+SchedulerRTOS::SchedulerRTOS(void)
+{
+  _num = 1; // loop is already created by default
+}
+
+bool SchedulerRTOS::startLoop(taskfunc_t task, uint32_t stack_size)
+{
+  char name[8] = "loop0";
+  name[4] += _num;
+
+  if ( startLoop(task, name, stack_size) )
+  {
+    _num++;
+    return true;
+  }else
+  {
+    return false;
+  }
+}
+
+bool SchedulerRTOS::startLoop(taskfunc_t task, const char* name, uint32_t stack_size)
+{
+  TaskHandle_t  handle;
+  return pdPASS == xTaskCreate( _redirect_task, name, stack_size, (void*) task, TASK_PRIO_NORMAL, &handle);
+}
+

cores/nRF5/rtos.h

@@ -79,6 +79,27 @@ static inline void* rtos_realloc(void* pv, size_t new_size)
 {
   return (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) ? realloc(pv, new_size) : pvPortRealloc(pv, new_size);
 }
+#endif
+
+#ifdef __cplusplus // Visible only with cplusplus
+
+#define SCHEDULER_STACK_SIZE_DFLT   (512*2)
+
+class SchedulerRTOS
+{
+private:
+  uint8_t _num;
+
+public:
+  typedef void (*taskfunc_t)(void);
+
+  SchedulerRTOS(void);
+
+  bool startLoop(taskfunc_t task, uint32_t stack_size = SCHEDULER_STACK_SIZE_DFLT);
+  bool startLoop(taskfunc_t task, const char* name, uint32_t stack_size = SCHEDULER_STACK_SIZE_DFLT);
+};
+
+extern SchedulerRTOS Scheduler;
 
 #endif
 #endif /* RTOS_H_ */

keywords.txt

@@ -45,6 +45,8 @@ dbgHeapFree	KEYWORD2
 dbgMemInfo	KEYWORD2
 dbgPrintVersion	KEYWORD2
 
+startLoop	KEYWORD2
+
 #######################################
 # Adafruit_FIFO Methods (KEYWORD2)
 #######################################

libraries/Bluefruit52Lib/examples/Hardware/rtos_scheduler/rtos_scheduler.ino

@@ -0,0 +1,57 @@
+/*********************************************************************
+ This is an example for our nRF52 based Bluefruit LE modules
+
+ Pick one up today in the adafruit shop!
+
+ Adafruit invests time and resources providing this open source code,
+ please support Adafruit and open-source hardware by purchasing
+ products from Adafruit!
+
+ MIT license, check LICENSE for more information
+ All text above, and the splash screen below must be included in
+ any redistribution
+*********************************************************************/
+
+#include <Arduino.h>
+
+/*
+ * Sketch demonstate mutli-task using Scheduler. Demo create loop2() that
+ * run in 'parallel' with loop().
+ * - loop() toggle LED1 every 1 second
+ * - loop2() toggle LED2 every half of second
+ */
+
+int led1 = 17;
+int led2 = 19;
+
+void setup() 
+{
+  // initialize digital pin as an output.
+  pinMode(led1, OUTPUT);
+  pinMode(led2, OUTPUT);
+
+  digitalWrite(led1, LOW);
+  digitalWrite(led2, LOW);
+
+  // Create loop2() using Scheduler
+  Scheduler.startLoop(loop2);
+}
+
+/**
+ * Toggle led1 every 1 second
+ */
+void loop() 
+{
+  digitalToggle(led1); // Toggle LED 
+  delay(1000);         // wait for a second
+}
+
+/**
+ * Toggle led1 every 0.5 second
+ */
+void loop2()
+{
+  digitalToggle(led2); // Toggle LED 
+  delay(500);          // wait for a half second  
+}
+